TPK4171 - Advanced Industrial Robotics


Examination arrangement

Examination arrangement: School exam
Grade: Letter grades

Evaluation Weighting Duration Grade deviation Examination aids
School exam 100/100 4 hours C

Course content

Kinematics: Screw theory. Projective geometry in 2D and 3D. Points, lines and planes in Plücker coordinates. Determination of rotations in SO(3) and displacements in SE(3) from measurements by using optimization methods. Robot vision: Camera models and calibration. RANSAC. Homographies in 2D and 3D: Properties and computation. Stereo vision with calibrated and uncalibrated cameras. Point clouds and iterative closest point.

Learning outcome

The course shall give knowledge about:

  • Advanced kinematics for the description and numerical determination of geometric objects like points, lines and planes.
  • Computation of rotation in SO(3) and displacements in SE(3) from measurements.
  • Geometric methods for use in robotic vision.

The course shall develop skills in:

  • Programming in Python to compute the position and orientation of geometric objects.
  • Programming in Python of computational methods in 2D and 3D vision.

The course shall give competence in:

  • Design and implementation of robotic vision for industrial applications.

Learning methods and activities

Lectures, exercises, laboratory exercises. The lectures and exercises are in English when students who do not speak Norwegian take the course.

If the teaching is given in English the Examination papers will be given in English only. Students are free to choose Norwegian or English for written assessments.

Compulsory assignments

  • Laboratory Exercises
  • Exercises

Further on evaluation

Mandatory work from previous semester can be accepted by the Department by re-take of an examination if there haven't been any significant changes later.

If there is a re-sit examination, the examination form may be changed from written to oral.

Specific conditions

Compulsory activities from previous semester may be approved by the department.

Course materials

To be announced at the start of the course

More on the course



Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  SPRING 2023

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Production and Quality Engineering - Manufacturing Systems
Contact information
Course coordinator:

Department with academic responsibility
Department of Mechanical and Industrial Engineering


Examination arrangement: School exam

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Spring ORD School exam 100/100 C 2023-05-19 09:00 PAPIR
Room Building Number of candidates
Summer UTS School exam 100/100 C
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

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